Title :
Steering car-like systems with trailers using sinusoids
Author :
Tilbury, D. ; Laumond, J.P. ; Murray, R. ; Sastry, S. ; Walsh, G.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry´s (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu´s (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented
Keywords :
control system analysis; convergence of numerical methods; mobile robots; position control; asymptotic behavior; car-like robots; convergence; coordinate transformations; mobile robots; position control; sinusoids; steering; Algebra; Control systems; Control theory; Fingers; Frequency; Laboratories; Mobile robots; Optimal control; Robot kinematics; Sun;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219988
